X =  [0 0 1 0 0 1 2 3 2 2;
                   0 0 1 1 1 1 2 3 1 0;
                   0 1 1 0 1 3 3 3 3 1];
x = [    161 160 210 118 116 165 169 173 213 257;
                        307 252 233 284 230 90 57 26 73 211];
P = CalculateCameraProjectionMatrix(X,x);
